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<div class="header">
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<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
<a href="#pro-attribs">Protected 属性</a> &#124;
<a href="classpcl_1_1_a_s_c_i_i_reader-members.html">所有成员列表</a>  </div>
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<div class="title">pcl::ASCIIReader类 参考</div>  </div>
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<p>Ascii Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> Reader. Read any ASCII file by setting the separating characters and input point fields.  
 <a href="classpcl_1_1_a_s_c_i_i_reader.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="ascii__io_8h_source.html">ascii_io.h</a>&gt;</code></p>
<div class="dynheader">
类 pcl::ASCIIReader 继承关系图:</div>
<div class="dyncontent">
 <div class="center">
  <img src="classpcl_1_1_a_s_c_i_i_reader.png" usemap="#pcl::ASCIIReader_map" alt=""/>
  <map id="pcl::ASCIIReader_map" name="pcl::ASCIIReader_map">
<area href="classpcl_1_1_file_reader.html" title="Point Cloud Data (FILE) file format reader interface. Any (FILE) format file reader should implement ..." alt="pcl::FileReader" shape="rect" coords="0,0,108,24"/>
  </map>
</div></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:a939c1979fa98597578b650eea064df05"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a939c1979fa98597578b650eea064df05">readHeader</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, int &amp;data_type, unsigned int &amp;data_idx, const int offset=0)</td></tr>
<tr class="memdesc:a939c1979fa98597578b650eea064df05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data header from a FILE file.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a939c1979fa98597578b650eea064df05">更多...</a><br /></td></tr>
<tr class="separator:a939c1979fa98597578b650eea064df05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a0d3da8791cd1ca79c80187da2531a7"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a5a0d3da8791cd1ca79c80187da2531a7">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)</td></tr>
<tr class="memdesc:a5a0d3da8791cd1ca79c80187da2531a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a5a0d3da8791cd1ca79c80187da2531a7">更多...</a><br /></td></tr>
<tr class="separator:a5a0d3da8791cd1ca79c80187da2531a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ace74d18c0810c084d733dd05272e5def"><td class="memTemplParams" colspan="2"><a id="ace74d18c0810c084d733dd05272e5def"></a>
template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:ace74d18c0810c084d733dd05272e5def"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#ace74d18c0810c084d733dd05272e5def">setInputFields</a> ()</td></tr>
<tr class="memdesc:ace74d18c0810c084d733dd05272e5def"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the ascii file point fields. <br /></td></tr>
<tr class="separator:ace74d18c0810c084d733dd05272e5def"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7bb863c698a17ff7036f6d1bf12041da"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">setInputFields</a> (const std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt; &amp;fields)</td></tr>
<tr class="memdesc:a7bb863c698a17ff7036f6d1bf12041da"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the ascii file point fields using a list of fields.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a7bb863c698a17ff7036f6d1bf12041da">更多...</a><br /></td></tr>
<tr class="separator:a7bb863c698a17ff7036f6d1bf12041da"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a598c81fb5c3697abe3cbe8131ae6c1a1"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:a598c81fb5c3697abe3cbe8131ae6c1a1"><td class="memTemplItemLeft" align="right" valign="top">void&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a598c81fb5c3697abe3cbe8131ae6c1a1">setInputFields</a> (const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> p)</td></tr>
<tr class="memdesc:a598c81fb5c3697abe3cbe8131ae6c1a1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the ascii file point fields using a point type.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a598c81fb5c3697abe3cbe8131ae6c1a1">更多...</a><br /></td></tr>
<tr class="separator:a598c81fb5c3697abe3cbe8131ae6c1a1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac2b5e96e43e00f712717948300f21f6e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">setSepChars</a> (const std::string &amp;chars)</td></tr>
<tr class="memdesc:ac2b5e96e43e00f712717948300f21f6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the Separting characters for the ascii point fields 2.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#ac2b5e96e43e00f712717948300f21f6e">更多...</a><br /></td></tr>
<tr class="separator:ac2b5e96e43e00f712717948300f21f6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a97dac034b56d0f4b3d1aa3d8b8f7ab25"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">setExtension</a> (const std::string &amp;ext)</td></tr>
<tr class="memdesc:a97dac034b56d0f4b3d1aa3d8b8f7ab25"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the extension of the ascii point file type.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a97dac034b56d0f4b3d1aa3d8b8f7ab25">更多...</a><br /></td></tr>
<tr class="separator:a97dac034b56d0f4b3d1aa3d8b8f7ab25"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c7b7ed00b43536739a8465064426c1b"><td class="memItemLeft" align="right" valign="top">virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a6c7b7ed00b43536739a8465064426c1b">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)=0</td></tr>
<tr class="memdesc:a6c7b7ed00b43536739a8465064426c1b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a6c7b7ed00b43536739a8465064426c1b">更多...</a><br /></td></tr>
<tr class="separator:a6c7b7ed00b43536739a8465064426c1b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfa34c71c7f148557a5d3ab0517e1c29"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const int offset=0)</td></tr>
<tr class="memdesc:abfa34c71c7f148557a5d3ab0517e1c29"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">更多...</a><br /></td></tr>
<tr class="separator:abfa34c71c7f148557a5d3ab0517e1c29"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa38fa10dc5ca8f8a9b3e7c41f1cf36af"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:aa38fa10dc5ca8f8a9b3e7c41f1cf36af"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">read</a> (const std::string &amp;file_name, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud, const int offset=0)</td></tr>
<tr class="memdesc:aa38fa10dc5ca8f8a9b3e7c41f1cf36af"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from any FILE file, and convert it to the given template format.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">更多...</a><br /></td></tr>
<tr class="separator:aa38fa10dc5ca8f8a9b3e7c41f1cf36af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classpcl_1_1_file_reader"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classpcl_1_1_file_reader')"><img src="closed.png" alt="-"/>&#160;Public 成员函数 继承自 <a class="el" href="classpcl_1_1_file_reader.html">pcl::FileReader</a></td></tr>
<tr class="memitem:a94072e7c2380c4c1da3465c2b69af9f9 inherit pub_methods_classpcl_1_1_file_reader"><td class="memItemLeft" align="right" valign="top"><a id="a94072e7c2380c4c1da3465c2b69af9f9"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_reader.html#a94072e7c2380c4c1da3465c2b69af9f9">FileReader</a> ()</td></tr>
<tr class="memdesc:a94072e7c2380c4c1da3465c2b69af9f9 inherit pub_methods_classpcl_1_1_file_reader"><td class="mdescLeft">&#160;</td><td class="mdescRight">empty constructor <br /></td></tr>
<tr class="separator:a94072e7c2380c4c1da3465c2b69af9f9 inherit pub_methods_classpcl_1_1_file_reader"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7edf7999f66456a8dff01ff2ac157513 inherit pub_methods_classpcl_1_1_file_reader"><td class="memItemLeft" align="right" valign="top"><a id="a7edf7999f66456a8dff01ff2ac157513"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_reader.html#a7edf7999f66456a8dff01ff2ac157513">~FileReader</a> ()</td></tr>
<tr class="memdesc:a7edf7999f66456a8dff01ff2ac157513 inherit pub_methods_classpcl_1_1_file_reader"><td class="mdescLeft">&#160;</td><td class="mdescRight">empty destructor <br /></td></tr>
<tr class="separator:a7edf7999f66456a8dff01ff2ac157513 inherit pub_methods_classpcl_1_1_file_reader"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abfa34c71c7f148557a5d3ab0517e1c29 inherit pub_methods_classpcl_1_1_file_reader"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">read</a> (const std::string &amp;file_name, <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;cloud, const int offset=0)</td></tr>
<tr class="memdesc:abfa34c71c7f148557a5d3ab0517e1c29 inherit pub_methods_classpcl_1_1_file_reader"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2.  <a href="classpcl_1_1_file_reader.html#abfa34c71c7f148557a5d3ab0517e1c29">更多...</a><br /></td></tr>
<tr class="separator:abfa34c71c7f148557a5d3ab0517e1c29 inherit pub_methods_classpcl_1_1_file_reader"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa38fa10dc5ca8f8a9b3e7c41f1cf36af inherit pub_methods_classpcl_1_1_file_reader"><td class="memTemplParams" colspan="2">template&lt;typename PointT &gt; </td></tr>
<tr class="memitem:aa38fa10dc5ca8f8a9b3e7c41f1cf36af inherit pub_methods_classpcl_1_1_file_reader"><td class="memTemplItemLeft" align="right" valign="top">int&#160;</td><td class="memTemplItemRight" valign="bottom"><a class="el" href="classpcl_1_1_file_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">read</a> (const std::string &amp;file_name, <a class="el" href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a>&lt; <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> &gt; &amp;cloud, const int offset=0)</td></tr>
<tr class="memdesc:aa38fa10dc5ca8f8a9b3e7c41f1cf36af inherit pub_methods_classpcl_1_1_file_reader"><td class="mdescLeft">&#160;</td><td class="mdescRight">Read a point cloud data from any FILE file, and convert it to the given template format.  <a href="classpcl_1_1_file_reader.html#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">更多...</a><br /></td></tr>
<tr class="separator:aa38fa10dc5ca8f8a9b3e7c41f1cf36af inherit pub_methods_classpcl_1_1_file_reader"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a1212f6462c0f39c72d3ea9365f27c130"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#a1212f6462c0f39c72d3ea9365f27c130">parse</a> (const std::string &amp;token, const <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &amp;field, uint8_t *data_target)</td></tr>
<tr class="memdesc:a1212f6462c0f39c72d3ea9365f27c130"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parses token based on field type.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#a1212f6462c0f39c72d3ea9365f27c130">更多...</a><br /></td></tr>
<tr class="separator:a1212f6462c0f39c72d3ea9365f27c130"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad4de8700ce7fbcc001c8d18ac4b70ea0"><td class="memItemLeft" align="right" valign="top">uint32_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1_a_s_c_i_i_reader.html#ad4de8700ce7fbcc001c8d18ac4b70ea0">typeSize</a> (int type)</td></tr>
<tr class="memdesc:ad4de8700ce7fbcc001c8d18ac4b70ea0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the size in bytes of a point field type.  <a href="classpcl_1_1_a_s_c_i_i_reader.html#ad4de8700ce7fbcc001c8d18ac4b70ea0">更多...</a><br /></td></tr>
<tr class="separator:ad4de8700ce7fbcc001c8d18ac4b70ea0"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a079004a63a0be83842a7c508a0957c13"><td class="memItemLeft" align="right" valign="top"><a id="a079004a63a0be83842a7c508a0957c13"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>sep_chars_</b></td></tr>
<tr class="separator:a079004a63a0be83842a7c508a0957c13"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33952acf5ff4bd6944657efcb1a923fe"><td class="memItemLeft" align="right" valign="top"><a id="a33952acf5ff4bd6944657efcb1a923fe"></a>
std::string&#160;</td><td class="memItemRight" valign="bottom"><b>extension_</b></td></tr>
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std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>fields_</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>name_</b></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Ascii Point <a class="el" href="class_cloud.html" title="A wrapper which allows to use any implementation of cloud provided by a third-party library.">Cloud</a> Reader. Read any ASCII file by setting the separating characters and input point fields. </p>
<dl class="section author"><dt>作者</dt><dd>Adam Stambler (<a href="#" onclick="location.href='mai'+'lto:'+'ada'+'st'+'a@g'+'ma'+'il.'+'co'+'m'; return false;">adast<span style="display: none;">.nosp@m.</span>a@gm<span style="display: none;">.nosp@m.</span>ail.c<span style="display: none;">.nosp@m.</span>om</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a1212f6462c0f39c72d3ea9365f27c130"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a1212f6462c0f39c72d3ea9365f27c130">&#9670;&nbsp;</a></span>parse()</h2>

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          <td class="memname">int pcl::ASCIIReader::parse </td>
          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>token</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &amp;&#160;</td>
          <td class="paramname"><em>field</em>, </td>
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          <td class="paramkey"></td>
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          <td class="paramtype">uint8_t *&#160;</td>
          <td class="paramname"><em>data_target</em>&#160;</td>
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          <td>)</td>
          <td></td><td></td>
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<p>Parses token based on field type. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">token</td><td>string representation of point fields </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">field</td><td>token point field type </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">data_target</td><td>address that the point field data should be assigned to returns the size of the parsed point field in bytes </td></tr>
  </table>
  </dd>
</dl>

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<a id="abfa34c71c7f148557a5d3ab0517e1c29"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abfa34c71c7f148557a5d3ab0517e1c29">&#9670;&nbsp;</a></span>read() <span class="overload">[1/4]</span></h2>

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<p>Read a point cloud data from a FILE file (FILE_V6 only!) and store it into a pcl/PCLPointCloud2. </p>
<dl class="section note"><dt>注解</dt><dd>This function is provided for backwards compatibility only and it can only read FILE_V6 files correctly, as <a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> does not contain a sensor origin/orientation. Reading any file <blockquote class="doxtable">
<p>FILE_V6 will generate a warning. </p>
</blockquote>
</dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message read from disk</td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). </td></tr>
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<div class="fragment"><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        Eigen::Vector4f origin;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;        Eigen::Quaternionf orientation;</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <span class="keywordtype">int</span> file_version;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a6c7b7ed00b43536739a8465064426c1b">read</a> (file_name, cloud, origin, orientation, file_version, offset));</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="ttc" id="aclasspcl_1_1_a_s_c_i_i_reader_html_a6c7b7ed00b43536739a8465064426c1b"><div class="ttname"><a href="classpcl_1_1_a_s_c_i_i_reader.html#a6c7b7ed00b43536739a8465064426c1b">pcl::ASCIIReader::read</a></div><div class="ttdeci">virtual int read(const std::string &amp;file_name, pcl::PCLPointCloud2 &amp;cloud, Eigen::Vector4f &amp;origin, Eigen::Quaternionf &amp;orientation, int &amp;file_version, const int offset=0)=0</div><div class="ttdoc">Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2.</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a5a0d3da8791cd1ca79c80187da2531a7">&#9670;&nbsp;</a></span>read() <span class="overload">[2/4]</span></h2>

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          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
        </tr>
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          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
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          <td class="paramtype">Eigen::Vector4f &amp;&#160;</td>
          <td class="paramname"><em>origin</em>, </td>
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          <td class="paramtype">Eigen::Quaternionf &amp;&#160;</td>
          <td class="paramname"><em>orientation</em>, </td>
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          <td class="paramname"><em>offset</em> = <code>0</code>&#160;</td>
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<p>Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message read from disk </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">origin</td><td>the sensor acquisition origin (only for &gt; FILE_V7 - null if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation (only for &gt; FILE_V7 - identity if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">file_version</td><td>the FILE version of the file (either FILE_V6 or FILE_V7) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). </td></tr>
  </table>
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</dl>

<p>实现了 <a class="el" href="classpcl_1_1_file_reader.html#a6c7b7ed00b43536739a8465064426c1b">pcl::FileReader</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a6c7b7ed00b43536739a8465064426c1b">&#9670;&nbsp;</a></span>read() <span class="overload">[3/4]</span></h2>

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<p>Read a point cloud data from a FILE file and store it into a pcl/PCLPointCloud2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message read from disk </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">origin</td><td>the sensor acquisition origin (only for &gt; FILE_V7 - null if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation (only for &gt; FILE_V7 - identity if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">file_version</td><td>the FILE version of the file (either FILE_V6 or FILE_V7) </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). </td></tr>
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<a id="aa38fa10dc5ca8f8a9b3e7c41f1cf36af"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa38fa10dc5ca8f8a9b3e7c41f1cf36af">&#9670;&nbsp;</a></span>read() <span class="overload">[4/4]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td>(</td>
          <td class="paramtype">typename <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&#160;</td>
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<p>Read a point cloud data from any FILE file, and convert it to the given template format. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file containing the actual <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> data </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant <a class="el" href="classpcl_1_1_point_cloud.html" title="PointCloud represents the base class in PCL for storing collections of 3D points.">PointCloud</a> message read from disk </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). </td></tr>
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<div class="fragment"><div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <a class="code" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> blob;</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;        <span class="keywordtype">int</span> file_version;</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;        <span class="keywordtype">int</span> res = <a class="code" href="classpcl_1_1_a_s_c_i_i_reader.html#a6c7b7ed00b43536739a8465064426c1b">read</a> (file_name, blob, cloud.sensor_origin_, cloud.sensor_orientation_, </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                        file_version, offset);</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;        <span class="comment">// Exit in case of error</span></div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        <span class="keywordflow">if</span> (res &lt; 0)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;          <span class="keywordflow">return</span> res;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        pcl::fromPCLPointCloud2 (blob, cloud);</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordflow">return</span> (0);</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      }</div>
<div class="ttc" id="astructpcl_1_1_p_c_l_point_cloud2_html"><div class="ttname"><a href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a></div><div class="ttdef"><b>Definition:</b> PCLPointCloud2.h:21</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a939c1979fa98597578b650eea064df05">&#9670;&nbsp;</a></span>readHeader()</h2>

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          <td>(</td>
          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>file_name</em>, </td>
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          <td class="paramtype"><a class="el" href="structpcl_1_1_p_c_l_point_cloud2.html">pcl::PCLPointCloud2</a> &amp;&#160;</td>
          <td class="paramname"><em>cloud</em>, </td>
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          <td class="paramtype">const int&#160;</td>
          <td class="paramname"><em>offset</em> = <code>0</code>&#160;</td>
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<p>Read a point cloud data header from a FILE file. </p>
<p>Load only the meta information (number of points, their types, etc), and not the points themselves, from a given FILE file. Useful for fast evaluation of the underlying data structure.</p>
<p>Returns:</p><ul>
<li>&lt; 0 (-1) on error</li>
<li>&gt; 0 on success <dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">file_name</td><td>the name of the file to load </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">cloud</td><td>the resultant point cloud dataset (only the header will be filled) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">origin</td><td>the sensor acquisition origin (only for &gt; FILE_V7 - null if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">orientation</td><td>the sensor acquisition orientation (only for &gt; FILE_V7 - identity if not present) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">file_version</td><td>the FILE version of the file (either FILE_V6 or FILE_V7) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">data_type</td><td>the type of data (binary data=1, ascii=0, etc) </td></tr>
    <tr><td class="paramdir">[out]</td><td class="paramname">data_idx</td><td>the offset of cloud data within the file </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">offset</td><td>the offset in the file where to expect the true header to begin. One usage example for setting the offset parameter is for reading data from a TAR "archive containing multiple files: TAR files always add a 512 byte header in front of the actual file, so set the offset to the next byte after the header (e.g., 513). </td></tr>
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<p>实现了 <a class="el" href="classpcl_1_1_file_reader.html#ae51784cb6db39877b912df20377eaef1">pcl::FileReader</a>.</p>

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<h2 class="memtitle"><span class="permalink"><a href="#a97dac034b56d0f4b3d1aa3d8b8f7ab25">&#9670;&nbsp;</a></span>setExtension()</h2>

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          <td class="memname">void pcl::ASCIIReader::setExtension </td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>ext</em></td><td>)</td>
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<p>Set the extension of the ascii point file type. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">ext</td><td>extension (example : ".txt" or ".xyz" ) </td></tr>
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<div class="fragment"><div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;{ extension_ = ext; }</div>
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<a id="a598c81fb5c3697abe3cbe8131ae6c1a1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a598c81fb5c3697abe3cbe8131ae6c1a1">&#9670;&nbsp;</a></span>setInputFields() <span class="overload">[1/2]</span></h2>

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template&lt;typename PointT &gt; </div>
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          <td class="memname">void pcl::ASCIIReader::setInputFields </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&#160;</td>
          <td class="paramname"><em>p</em></td><td>)</td>
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<p>Set the ascii file point fields using a point type. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">p</td><td>a point type </td></tr>
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<div class="fragment"><div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        (void) p;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;        setInputFields&lt;PointT&gt; ();</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      }</div>
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<a id="a7bb863c698a17ff7036f6d1bf12041da"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a7bb863c698a17ff7036f6d1bf12041da">&#9670;&nbsp;</a></span>setInputFields() <span class="overload">[2/2]</span></h2>

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          <td class="memname">void pcl::ASCIIReader::setInputFields </td>
          <td>(</td>
          <td class="paramtype">const std::vector&lt; <a class="el" href="structpcl_1_1_p_c_l_point_field.html">pcl::PCLPointField</a> &gt; &amp;&#160;</td>
          <td class="paramname"><em>fields</em></td><td>)</td>
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<p>Set the ascii file point fields using a list of fields. </p>
<dl class="params"><dt>参数</dt><dd>
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    <tr><td class="paramdir">[in]</td><td class="paramname">fields</td><td>is a list of point fields, in order, in the input ascii file </td></tr>
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<a id="ac2b5e96e43e00f712717948300f21f6e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ac2b5e96e43e00f712717948300f21f6e">&#9670;&nbsp;</a></span>setSepChars()</h2>

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          <td class="memname">void pcl::ASCIIReader::setSepChars </td>
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          <td class="paramtype">const std::string &amp;&#160;</td>
          <td class="paramname"><em>chars</em></td><td>)</td>
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<p>Set the Separting characters for the ascii point fields 2. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">chars</td><td>string of separating characters Sets the separating characters for the point fields. The default separating characters are " \n\t," </td></tr>
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<a id="ad4de8700ce7fbcc001c8d18ac4b70ea0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad4de8700ce7fbcc001c8d18ac4b70ea0">&#9670;&nbsp;</a></span>typeSize()</h2>

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          <td class="memname">uint32_t pcl::ASCIIReader::typeSize </td>
          <td>(</td>
          <td class="paramtype">int&#160;</td>
          <td class="paramname"><em>type</em></td><td>)</td>
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<p>Returns the size in bytes of a point field type. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">type</td><td>point field type returns the size of the type in bytes </td></tr>
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<hr/>该类的文档由以下文件生成:<ul>
<li>io/include/pcl/io/<a class="el" href="ascii__io_8h_source.html">ascii_io.h</a></li>
<li>io/include/pcl/io/impl/<a class="el" href="ascii__io_8hpp_source.html">ascii_io.hpp</a></li>
</ul>
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